{"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00239586","sets":["1164:4061:11479:11719"]},"path":["11719"],"owner":"44499","recid":"239586","title":["暗渠内におけるモルタル搬送のためのLiDARを用いたロボットの自律移動手法の検証"],"pubdate":{"attribute_name":"公開日","attribute_value":"2024-09-19"},"_buckets":{"deposit":"59fde101-180d-4d35-acb0-bdbd31c90cef"},"_deposit":{"id":"239586","pid":{"type":"depid","value":"239586","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"暗渠内におけるモルタル搬送のためのLiDARを用いたロボットの自律移動手法の検証","author_link":["656914","656915"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"暗渠内におけるモルタル搬送のためのLiDARを用いたロボットの自律移動手法の検証"},{"subitem_title":"Experiment of Autonomous Mobile Robot for Mortar Transport in Culverts","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"IoT・ロボット","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2024-09-19","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"情報処理学会／現在，岩手県立大学／現在，滝沢ロボティクス合同会社"},{"subitem_text_value":"情報処理学会／現在，岩手県立大学"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"IPSJ / Presently with Iwate Prefectural University / Presently with Takizawa Robotics LLC.","subitem_text_language":"en"},{"subitem_text_value":"IPSJ / Presently with Iwate Prefectural University","subitem_text_language":"en"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/239586/files/IPSJ-UBI24083043.pdf","label":"IPSJ-UBI24083043.pdf"},"date":[{"dateType":"Available","dateValue":"2026-09-19"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-UBI24083043.pdf","filesize":[{"value":"24.9 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"36"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"89c78e12-9a0d-43ce-b355-f1e025939a0f","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2024 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"田尻, 隼人"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"鈴木, 彰真"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11838947","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2188-8698","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"農業用水路の老朽化に伴い，モルタルを用いた補修メンテナンスが行われている．モルタルを目的の場所まで搬送する際，作業者が直立で移動できない暗渠区間において，手押し台車によってモルタル搬送を行っている．搬送時の作業者の負担軽減のためには，自律移動で運搬するロボットが有効である．そのため，筆者らは農業用水路の暗渠における搬送を目的とした自律移動ロボットの研究をすすめてきた．暗渠の狭所，一定幅，直線的，分岐が少ない特徴を利用した LiDAR による自律移動手法を提案し，実環境において実用性を検証した．","subitem_description_type":"Other"}]},"item_4_description_8":{"attribute_name":"論文抄録(英)","attribute_value_mlt":[{"subitem_description":"As agricultural canal tunnels deteriorate, repair and maintenance using mortar is being performed. In an environment where workers cannot move upright, hand trucks are used to transport the mortar to the desired location in the culvert sections. A robot that can move autonomously is effective in reducing the workload of the operator during transport. For this reason, the authors have been studying an autonomous mobile robot for transport in agricultural canal culverts. We proposed a method of autonomous transportation using LiDAR that takes advantage of the narrow, constant-width, straight, and few branching features of culverts, and verified the method in a real environment.","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告ユビキタスコンピューティングシステム（UBI）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2024-09-19","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"43","bibliographicVolumeNumber":"2024-UBI-83"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":239586,"updated":"2025-01-19T08:13:51.175265+00:00","links":{},"created":"2025-01-19T01:43:19.134015+00:00"}